EP3366350A1 - Dispositif de traitement thérapeutique, procédé permettant de définir une configuration, procédé de traitement de tissu et produit-programme informatique - Google Patents

Dispositif de traitement thérapeutique, procédé permettant de définir une configuration, procédé de traitement de tissu et produit-programme informatique Download PDF

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Publication number
EP3366350A1
EP3366350A1 EP17305199.6A EP17305199A EP3366350A1 EP 3366350 A1 EP3366350 A1 EP 3366350A1 EP 17305199 A EP17305199 A EP 17305199A EP 3366350 A1 EP3366350 A1 EP 3366350A1
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EP
European Patent Office
Prior art keywords
treatment
hifu
harmful
energy
reflected
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Pending
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EP17305199.6A
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German (de)
English (en)
Inventor
Anthony Grisey
Thierry Pechoux
Jérémie ANQUEZ
Sylvain Yon
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Theraclion SA
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Theraclion SA
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Application filed by Theraclion SA filed Critical Theraclion SA
Priority to EP17305199.6A priority Critical patent/EP3366350A1/fr
Publication of EP3366350A1 publication Critical patent/EP3366350A1/fr
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N7/02—Localised ultrasound hyperthermia

Definitions

  • the present invention is directed to a therapeutic treatment device, a method for defining a setup, a method for treating tissue and a computer program product as defined in the independent claims.
  • the invention concerns devices and methods for treatment with high intensity focused ultrasounds (HIFU).
  • HIFU high intensity focused ultrasounds
  • an acoustic treatment transducer emits concentrated acoustic waves onto a target tissue. These waves are absorbed by the tissue, which provokes a temperature rise in the tissue in the focal region. This temperature elevation in turn induces a local necrosis and thereby allows destruction of living tissue at a distance without any direct contact.
  • the HIFU beam is partially reflected by tissue interfaces such as the skin or by mechanical parts such as a balloon including contact gel or water.
  • tissue interfaces such as the skin or by mechanical parts such as a balloon including contact gel or water.
  • the reflection might result in energy being partially refocused and transmitted back onto the device.
  • WO 2011/157598 suggests providing a baffle mounted on the embedded imaging probe.
  • a baffle can reduce the quality of the images, interfere with the treatment HIFU beam or still provide an insufficient protection.
  • the problem is solved with a device according to the independent claim.
  • the problem is solved with a device for therapeutic treatment of a target, in particular an organ or tissue.
  • the device is operable in at least a detection mode during a detection phase and a treatment mode during a treatment phase.
  • the device comprises a control for operating said device, a HIFU transducer for generating and transmitting ultrasound pulses to said target and at least one component which is sensitive to HIFU.
  • a processor is adapted to generate a harmful condition signal indicating whether or not there is a harmful condition in which reflected HIFU waves would impinge on said sensitive component during the treatment phase in such a manner as to transmit an amount of energy/power being harmful for the sensitive component.
  • the control is adapted to define operation characteristics of said device for the treatment phase based on the harmful condition signal generated by said processor during the detection phase such that the reflected HIFU waves do not impinge on said component in such a manner as to transmit an amount of energy/power being harmful for the sensitive component in the treatment phase.
  • the signal generated by the processor provides details about the energy/power impinging on the sensitive component.
  • the signal might provide the following types of information:
  • the adjustment of the operation characteristics can then be based on the information provided by the signal.
  • the detailed signal allows for a better planning in adjustment avoiding multiple trial and error steps.
  • the signal generated by the processor might be such that it simply indicates if a harmful condition is present or not (yes/no signal).
  • the adaptation of the operation characteristics may be made in a trial and error form in such a case.
  • the sensitive part might, for example, be an ultrasound imaging transducer. It might also be a portion of the treatment transducer itself, which can be a single or a multielement transducer. There might also be other HIFU sensitive parts in a HIFU treatment head.
  • the device according to the invention is adapted to detect harmful conditions in the detection phase and to set the operation characteristics accordingly to avoid damage of the sensitive component in a treatment phase, when HIFU waves are emitted by the treatment transducer.
  • the device provides a reliable way to avoid damage of sensitive parts.
  • the HIFU transducer is preferably adapted to generate and emit detection ultrasound pulses with at least a first energy during the detection phase and treatment ultrasound pulses with at least a second energy higher than the first energy during the treatment phase.
  • the device further comprises a sensor spatially related to the sensitive component. The sensor is adapted to detect said reflected detection ultrasound waves during said detection phase and adapted to provide data to said processor to allow recognition of said harmful condition.
  • ultrasound waves are emitted with an energy, which will not result in a damage of the sensitive component in the detection phase.
  • the harmful conditions can reliably be recognized without a risk of damaging the sensitive component.
  • no tissue in the target region is modified by the acoustic energy delivered during the detection phase.
  • the pulses in the detection phase are not intended to treat the tissue but to allow detection of harmful configurations. If the detected reflected signal is above a certain threshold, the condition is considered as harmful.
  • the threshold may depend on the specific characteristics of the sensitive component. The actual risk of a damage of the sensitive component depends on at least two factors: the energy of the reflected ultrasound beam and whether or not the beam is focalized on the sensitive component. The threshold is set so low that it can be guaranteed that there will be no damaging of the sensitive component during the treatment phase.
  • imaging probes imaging transducers
  • the sensitive component is an imaging probe and in the detection phase it is detected that at least 1% of the reflected waves impinge on the imaging probe in a focalized way, the condition is considered harmful.
  • the operation characteristics are adapted. Therewith, it can be guaranteed that in the treatment phase, when ultrasound waves with higher energy are emitted, the reflected ultrasound waves will not damage the sensitive component.
  • the first energy emitted during the probing phase is less than 10% of said second energy emitted during the treatment phase.
  • the energy of pulses emitted in the probing phase might, for example, be 1% of the energy of pulses emitted in the treatment phase. Therewith, the sensitive part will not be harmed during the probing phase.
  • the sensor might be part of the sensitive component itself and adapted to detect an incoming acoustic signal.
  • the imaging transducer is adapted to detect ultrasonic waves in a certain bandwidth.
  • one or several thermocouples provide information on the temperature elevation of the sensitive component.
  • the incoming acoustic pressure may directly be sensed by elements of the imaging transducer.
  • Most ultrasound imaging transducers are particularly fragile. For example, if heated by the reflected ultrasound beam, a silicon lens may separate from the active elements thereby downgrading the image quality of the images provided by the imaging transducer.
  • Elements of the imaging transducers are usually connected to electronics in an ultrasound scanner which switch the elements to either emission mode (where imaging pulses are emitted by the elements) or a listening mode (where the elements are connected to amplifiers).
  • the signal detected by an element is known as the "RF signal”.
  • the harmful condition may be detected by the processor by analysing the RF signals and finding the spurious signals, i.e. only those signals which are related to the HIFU emission. If the RF signal is above a certain level, a harmful condition may be present.
  • HIFU waves tend to be reflected onto the central elements of the imaging transducer in a treatment device according to the invention. Therefore, only the central elements of the imaging transducer may have to be monitored to provide a reliable indication of harmful configurations. Furthermore, the identification of the elements where the spurious signal is the strongest gives an indication of the spatial distribution of the reflected waves, i.e. where the reflected wave is impinging on the imaging transducer.
  • the senor is a separate sensor spatially related to the sensitive part.
  • an imaging transducer tuned at a frequency other than the HIFU frequency may not detect a potentially harmful acoustic beam.
  • an external sensor could be provided to able to detect in the relevant frequency.
  • the senor In order to provide reliable information of the condition, the sensor has to be spatially related to the sensitive component. Only therewith could the sensor and the processor estimate the reflected energy/power which will impinge on the sensitive component during the treatment phase.
  • the sensor is preferably at least one of the following, a therapy transducer in receive mode, a cavitation detector, a thermocouple or a pressure sensor. It is also possible to provide more than one sensor. If more than one sensor is used, the sensors are preferably different sensors selected from the above list of sensors.
  • the acoustic frequency of the detection pulse might be adapted to maximize the detection signal.
  • the HIFU transducer may be made up of piezoceramics which can be driven at their third harmonics with a reasonable efficiency coefficient. This is, for example, useful when the sensitive component is an ultrasound imaging probe because they are generally working at higher frequencies than therapy transducers.
  • the HIFU transducer will then be driven at its 3 rd harmonics to better match the spectral sensitivity of the imaging probe while for the treatment pulse the HIFU transducer will be driven at its 1 st harmonics.
  • all sensing elements of the sensor e.g. the imaging probe
  • all sensing elements of the sensor are in "receive mode" so that reflection on the whole array is simultaneously monitored.
  • all sensing elements of the sensor are able to detect reflected waves.
  • the detection pulse can be lengthened so that all the sensing elements of the sensor are in receiving mode at least once during the pulse.
  • the transducers sensing elements
  • the detection pulse duration could be extended to at least 50 ms, i.e. to cover at least one frame.
  • the maximum duration of a detection pulse is determined by the necessity of limiting its energy to avoid any damage.
  • the detection pulse duration might therefore be extended to 100 or even up to 200 ms to cover at least one frame depending on the scanning frequency.
  • the senor When the sensor can be used in active or passive mode, it is preferably switched to passive mode during the detection pulses. In the passive mode, the sensor is only sensing but not emitting any waves itself. Therewith, the fields of the HIFU transducer and the sensor do not interfere. Similarly all other acoustic sources are preferably turned off to avoid any interference of acoustic fields.
  • the detection pulse should be strong enough to allow detection of the reflected signal in presence of other acoustic fields.
  • the signals can be separated by using spectral analysis.
  • the ultrasound scanner It is also possible to detect a harmful condition using the image provided by the ultrasound scanner.
  • the image is generated based on signals provided by the imaging probe. This mode is particularly useful when either the ultrasound scanner cannot be fully controlled by the HIFU device, or when the elements of the imaging transducer cannot be switched to receiving mode only or when it is not possible to synchronize the imaging scanning with the HIFU emission. Because in this cases, the RF signal as described hereinbefore is not available or at least not available for all elements.
  • the potentially harmful reflection is clearly distinguishable from the noise generated by the HIFU emission.
  • the potentially harmful reflection is displayed as a sharp cone at the relevant position.
  • An automatic recognition of a harmful condition might therefore be carried out using image recognition methods. For example, a template of a triangle may be introduced. If the reflection is detected in the triangle, a harmful configuration is present.
  • the harmful condition signal is generated by the processor based on the ultrasonography images recorded during the detection pulse.
  • the sensitive part is an imaging probe and a real-time image is displayed to a user
  • the image is preferably not displayed during the detection pulse(s) so that no artefact related to the emission of the detection pulse is visible in the image.
  • the monitoring of the reflected signal is gated to take into account the travel time of the detection pulse from its emission until reaching the target.
  • the time gate i.e. the time where the signal is taken into account is the time between t back&forth - ⁇ earlier and t back&forth + t detection + ⁇ later , wherein:
  • a duration of the detection ultrasound pulses is preferably shorter than 1000 cycles, where a cycle is the inverse of the acoustic frequency of the detection pulse. Using short pulses enables the use of higher power. Therewith, the signal to noise ratio is improved, especially when the monitored signal is the acoustic pressure.
  • the duration of the detection ultrasound pulses is preferably shorter than 200 ms, preferably the duration is shorter than 100 ms. Alternatively, the duration might be expressed in cycles.
  • the duration of the detection pulse is, when the harmful condition is detected using the image provided by the ultrasound scanner, preferably about 300'000 cycles if a frequency of 3 MHZ is used resulting (resulting in a duration of 100 ms).
  • Single short pulses enable the testing of one precise configuration. Such single short pulses are preferably used when the target and reflecting portions do not move. With non-moving portions it is sufficient to provide a single pulse, because the reflection will remain the same for each subsequent pulse.
  • the target moves, for example due to breathing
  • several detection pulses are preferably sent prior to a treatment (ablation) pulse because the reflection might be different for subsequent pulse(s).
  • the duration of the detection pulses is preferably small compared to a characteristic time of the target motion.
  • the total duration of the detection pulses should be large compared to the characteristic time of the target motion to enable evaluation of the possible anatomical configurations.
  • the transducer has to be in the "firing"-position (i.e. in the position where the subsequence treatment pulse must be delivered) at least for the time t sequence before the beginning of the treatment pulse. Therewith, it is ensured that the different configurations, which are present due to the breathing, can be estimated.
  • the criterion/criteria for changing a subsequent treatment pulse parameter can be adapted if a position is considered harmful.
  • a position may be considered as harmful in a non-limiting way if one or more of the following is detected:
  • the processor is adapted to recognize said harmful condition based on a simulation of an acoustic field reflected by a boundary present at or near the target.
  • the harmful condition is recognized through a simulation model. Therewith, it is not necessary to emit probing pulses on the patient.
  • the simulation can be made on a computer, therewith reducing the time the patient has to be present for treatment.
  • the 3D geometry of the anatomical scene, or at least, of the main reflective interface should be known.
  • the 3D geometry of the anatomical scene is acquired using a 3D imaging device such as ultrasound scanner, an X-Ray scanner or a magnetic resonance scanner or another method.
  • the 3D geometry may be reconstructed based on a collection of 2D images of the anatomical scene.
  • the acquiring can be performed at any time before the treatment or preferably before each therapy pulse.
  • the skin surface is detected to provide a 3D geometry.
  • the skin surface might be described as a second degree surface (i.e. flat, spherical or ellipsoidal) by using best fitting algorithms, yielding a set of first order parameters (such as distance of the skin surface to the focus, tilt of the skin surface with respect to a main acoustic axis, radii of curvature of the skin surface).
  • first order parameters such as distance of the skin surface to the focus, tilt of the skin surface with respect to a main acoustic axis, radii of curvature of the skin surface.
  • second order parameters may render how the actual surface departs from the second degree surface.
  • the first order parameters are used to predict the location of the reflected focus, using methods such as ray tracing or optical lens combination.
  • the second order parameters are used to predict the concentration of the reflected focus. For example, if the skin surface is very irregular, the reflected focus will not be sharp (i.e. reflected energy will be spread over a rather wide area). If the reflected focus is little or poorly concentrated, a higher ablation concentration is considered safe, i.e. not harmful.
  • a collection of representative 3D sense is preferably computed.
  • control is preferably adapted to adjust at least one of the following characteristics in said treatment phase as compared to the detection phase:
  • the HIFU transducer might be moved until it reaches a safe position.
  • the HIFU transducer might be moved along the main propagation axis or along another axis.
  • the HIFU transducer might be tilted until it reaches a safe position.
  • the sensitive part can be protected with a mobile acoustic shielding subsystem, preferably a baffle.
  • the mobile acoustic shielding subsystem is preferably only used when a harmful condition is detected.
  • the subsystem can be moved independently from the therapy transducer to be placed in a safe condition.
  • a geometry of a mechanical reflector is changed when a potentially harmful condition is detected.
  • the geometry of an inflatable balloon ensuring acoustic coupling can be changed through inflating or deflating.
  • the skin geometry of the patient might also be modified if the pressure applied to the skin changes.
  • the therapy transducer comprises a phased array
  • the amplitude and/or the phase of the transducer elements contributing to the therapy beam can be tuned.
  • the focus of the transducer can be electronically moved.
  • Phase arrays provide secondary foci. Adaption of characteristics of the treatment phase might take into account the position and intensity of these secondary foci to ensure that the sensitive component is not damaged.
  • the HIFU pulses are stopped or delayed, if a potentially harmful condition is detected.
  • the change of characteristics of one or several of the above mentioned options can rely on an optimization algorithm.
  • a gradient method where the derivative of the harmful condition signal vs each elementary motion is computed could provide the preferred direction of tilting or movement of the HIFU transducer to effectively achieve a safe position with a minimized change of characteristics.
  • a safe position can be achieved more easily without the need for "trial and error”. Details of optimization algorithms are also described in Kelley, C. T. (1999); “Iterative methods for optimization”; Society for Industrial and Applied Mathematics , which relevant parts are incorporated herein by reference.
  • the pulse parameter adaption could be done according to the following steps:
  • Modification of the pulse parameters may require a validation by the user as they modify the treatment planning. Alternatively, some authorized modifications can be considered minor and to not require a validation.
  • a new sequence of probing pulses may be emitted to ensure that the changes did not result in a harmful configuration.
  • the operations might be carried out automatically with a suitably programmed computer.
  • the device according to the present invention further comprises synchronization means to synchronize said transmittal of ultrasound waves with an anatomical movement such as breathing.
  • the pulse emission during the treatment phase might be synchronized such as to be switched off when the anatomy is in a position which was considered as harmful.
  • the transducer is moved in a predefined way when the anatomy is in a position which was estimated harmful.
  • the amplitude and/or phase of the transducer elements are temporarily modified in a predefined way when the anatomy is in a position which was estimated harmful.
  • the present invention is also directed to a method for defining a setup for the operation of a therapeutic treatment device with a HIFU transducer adapted to generate and transmit ultrasound waves to a target.
  • a therapeutic treatment device as described hereinbefore is used.
  • the method comprises the steps of:
  • the method further comprises the steps of:
  • the method further comprises the steps of:
  • said detection mode is performed before each treatment pulse is emitted in said treatment phase.
  • the invention is further directed to a method for treating tissue with HIFU from a therapeutic treatment device, with a HIFU transducer adapted to generate and transmit ultrasound waves to a target.
  • a therapeutic treatment device as described hereinabove is used.
  • the method comprises the steps of:
  • the method further comprises the steps of:
  • the method further comprises the steps of:
  • the invention is also directed to a computer program product comprising software code portions for performing the steps of a method as described hereinabove, when the product is run on a computer.
  • Figures 1a to 1d each disclose a therapeutic treatment device 1 according to the invention in a probing phase (1a) and a treatment phase (1b to Id).
  • the device comprises a HIFU treatment transducer 2 and an imaging probe 3.
  • the imaging probe 3 is sensitive to HIFU and could therefore be damaged by HIFU reflected on a surface.
  • the treatment transducer 2 is adapted to emit a HIFU beam 6 towards a patient 4.
  • the HIFU beam 6 has a focal point in a target of the patient 4.
  • a coupling membrane 5 filled with water is arranged between the HIFU transducer 2 and the patient 4 .
  • a portion of the HIFU beam 6 is reflected at boundary of the patient 4.
  • the reflected beam 7 could damage the imaging probe 3 if impinging on it.
  • the device 1 is shown in the probing phase.
  • the treatment transducer 2 emits an ultrasound beam 6 with pulses with a first energy being only 1% of the energy of a treatment pulse. This energy is too low to damage the imaging probe 3 and to change tissue characteristics in the target of the patient 4.
  • the imaging probe 3 (including its electronics usually included in an ultrasound scanner) is adapted to sense if the reflected ultrasound beam 7 is impinging on the imaging probe 3.
  • the data of the imaging probe 3 is provided to a processor 9 (see Figure 4 ), which calculates if this impinging potentially harmful, i.e. if a harmful condition will be present during a subsequent treatment pulse.
  • the reflected ultrasound beam 7 meets in a focal point on the imaging probe 3 and a potentially harmful amount of energy could be reflected on the imaging probe 3 in the treatment phase.
  • a harmful configuration is present.
  • the data 10 (see Figure 4 ) of the imaging probe 3 are provided to a processor 9 which generates a harmful condition signal 11 (see Figure 4 ), indicating if a harmful condition is present. Based on this signal, the operation characteristics for the treatment phase are adapted.
  • the adaption of the operation characteristics is a tilting of the treatment transducer 2 along a spherical axis such that the focal point of the ultrasound beam 6 in the patient 4 is not changed but the focal point of the reflected beam 7 is changed to not lie anymore in the imaging probe 3. Therewith, the reflected beam 7 cannot damage the imaging probe 3.
  • the adaption of the operation characteristics is movement of a mobile baffle 8 in a shielding position.
  • the mobile baffle 8 prevents the reflected beam 7 from impinging on the imaging probe 3. Therewith, the reflected beam 7 cannot damage the imaging probe 3.
  • the adaption of the operation characteristics is a motion of the treatment transducer 2 along the longitudinal axis of the emitted ultrasound beam towards the target, such that the reflected beam 7 does not concentrate anymore onto the imaging probe 3. Therewith, the reflected beam 7 cannot damage the imaging probe 3.
  • Figure 2 shows a pulse sequence with the synchronization of detection and imaging pulses. This allows detecting HIFU pulses without background noise.
  • the emission of imaging pulses is disclosed. No imaging pulses are emitted during the emission of detection pulses by the treatment transducer 2.
  • the sensing by the imaging transducer 2 is disclosed. The sensing of the detection pulse is not interfered by the imaging pulse (signal detected from the detection pulse).
  • imaging pulses and HIFU pulses are detected (Signal detected from the imaging pulses + HIFU pulses).
  • the emission of ultrasound waves of the HIFU transducer 2 is disclosed. A detection pulse is emitted during the detection phase and detected by the imaging probe 3. HIFU pulses with a higher energy are emitted during the treatment phase.
  • the synchronization allows the detection of reflected detection pulses without noise generated by imaging pulses.
  • Figure 3 discloses a flowchart of a method according to the invention.
  • First the treatment is planned with k treatment pulses.
  • the treatment transducer 3 is then moved to the position of pulse k and at least one detection pulse is emitted. If a harmful configuration is detected by the sensor and the processor 9, operation characteristics are changed and at least one further detection pulse is emitted. This is repeated until no harmful configuration is detected by the sensor and the processor 9. If no harmful configuration is detected, ablation (treatment) pulses are emitted by the treatment transducer 2.
  • Figure 4 discloses a device 1 according to the present invention.
  • the device 1 comprises a treatment transducer 2 and an imaging probe 3.
  • the treatment transducer 3 is adapted to generate probing pulses 6 (see Figure 1 ).
  • the reflected pulses 7 are sensed by an imaging probe 3.
  • the imaging probe 3 provides the data along arrow 10 to a processor 9.
  • the processor calculates with the data if the present configuration is harmful, i.e. in the present configuration reflected HIFU waves emitted by the treatment transducer 2 in the subsequent treatment phase would damage the imaging probe 3.
  • the processor 9 then provides a signal along arrow 11 to the treatment transducer 2 indicating if a harmful configuration is present or not.
  • the treatment transducer 2 will start emitting HIFU treatment pulses. If a harmful configuration is present, the operations characteristics of the treatment transducer 2 are adapted new probing pulses 6are emitted by the treatment transducer 2. The cycle is repeated until no harmful configuration is detected anymore by the processor 9.
  • Figure 5 discloses ultrasound images indicating a non-harmful (left hand side) and a harmful (right hand side) configuration.
  • the images can be used in a method to automatically detect a harmful configuration.
  • the images of Figure 5 are generated with the following materials and settings:
  • test pulse was emitted by the HIFU transducer 2.
  • Ultrasound images provided by the scanner are recorded during the pulse, yielding in 15 sequences of images. The most significant image of each sequence (i.e. the one synchronous with the test pulse) is extracted from each sequence.
  • the white line 12 is the result of the echo from the emission of the elements in the imaging array.
  • the noise 14 results from the HIFU emission.
  • the noise pattern in the proximal area (above the white line) is dependent on the position of the treatment head.
  • a template of a triangle 13 is matched to the grey levels in the proximal (upper) part of the image.
  • the triangle 13 basically matches the cone 15. If a cone 15 and hence a harmful configuration is present, in the area in the triangle noise is displayed. This directly indicates a harmful configuration. If the triangle remains empty, no harmful configuration is present and treatment pulses can be emitted.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • General Health & Medical Sciences (AREA)
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EP17305199.6A 2017-02-23 2017-02-23 Dispositif de traitement thérapeutique, procédé permettant de définir une configuration, procédé de traitement de tissu et produit-programme informatique Pending EP3366350A1 (fr)

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EP17305199.6A EP3366350A1 (fr) 2017-02-23 2017-02-23 Dispositif de traitement thérapeutique, procédé permettant de définir une configuration, procédé de traitement de tissu et produit-programme informatique

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114904171A (zh) * 2021-02-07 2022-08-16 重庆海扶医疗科技股份有限公司 超声消融系统及其控制方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003038514A (ja) * 2001-07-27 2003-02-12 Toshiba Corp 超音波治療装置
WO2003042707A2 (fr) * 2001-10-29 2003-05-22 Insightec-Image Guided Treatment Ltd. Systeme et procede de detection et de localisation des perturbations affectant une trajectoire d'energie d'un systeme a ultrasons focalises
WO2011157598A1 (fr) 2010-06-15 2011-12-22 Theraclion Sas Tête de sonde à ultrasons comprenant un transducteur d'imagerie avec un élément de protection element
JP2014030509A (ja) * 2012-08-02 2014-02-20 Hitachi Medical Corp 超音波治療装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003038514A (ja) * 2001-07-27 2003-02-12 Toshiba Corp 超音波治療装置
WO2003042707A2 (fr) * 2001-10-29 2003-05-22 Insightec-Image Guided Treatment Ltd. Systeme et procede de detection et de localisation des perturbations affectant une trajectoire d'energie d'un systeme a ultrasons focalises
WO2011157598A1 (fr) 2010-06-15 2011-12-22 Theraclion Sas Tête de sonde à ultrasons comprenant un transducteur d'imagerie avec un élément de protection element
JP2014030509A (ja) * 2012-08-02 2014-02-20 Hitachi Medical Corp 超音波治療装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
KELLEY, C. T.: "Iterative methods for optimization", 1999, SOCIETY FOR INDUSTRIAL AND APPLIED MATHEMATICS

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114904171A (zh) * 2021-02-07 2022-08-16 重庆海扶医疗科技股份有限公司 超声消融系统及其控制方法
CN114904171B (zh) * 2021-02-07 2024-01-26 重庆海扶医疗科技股份有限公司 超声消融系统及其控制方法

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